bug in profiling (micro instead of nano)

src/processor/processor_base.cpp

@@ -282,17 +282,17 @@ bool ProcessorBase::check(CheckLog& _log, std::shared_ptr<NodeBase> _node_ptr, b
 void ProcessorBase::printProfiling(std::ostream& _stream) const
 {
     _stream << "\n" << getName() << ":"
-            << "\n\ttotal time:           " << 1e-9*(acc_duration_capture_ + acc_duration_kf_).count()<< " s"
+            << "\n\ttotal time:           " << 1e-6*(acc_duration_capture_ + acc_duration_kf_).count()<< " s"
             << "\n\tProcessing captures:"
-            << "\n\t\ttotal time:         " << 1e-9*acc_duration_capture_.count() << " s"
+            << "\n\t\ttotal time:         " << 1e-6*acc_duration_capture_.count() << " s"
             << "\n\t\tcaptures processed: " << n_capture_callback_
-            << "\n\t\taverage time:       " << 1e-6*acc_duration_capture_.count() / n_capture_callback_ << " ms"
-            << "\n\t\tmax time:           " << 1e-6*max_duration_capture_.count() << " ms"
+            << "\n\t\taverage time:       " << 1e-3*acc_duration_capture_.count() / n_capture_callback_ << " ms"
+            << "\n\t\tmax time:           " << 1e-3*max_duration_capture_.count() << " ms"
             << "\n\tProcessing keyframes:"
-            << "\n\t\ttotal time:         " << 1e-9*acc_duration_kf_.count() << " s"
+            << "\n\t\ttotal time:         " << 1e-6*acc_duration_kf_.count() << " s"
             << "\n\t\tkf processed:       " << n_kf_callback_
-            << "\n\t\taverage time:       " << 1e-6*acc_duration_kf_.count() / n_kf_callback_ << " ms"
-            << "\n\t\tmax time:           " << 1e-6*max_duration_kf_.count() << " ms" << std::endl;
+            << "\n\t\taverage time:       " << 1e-3*acc_duration_kf_.count() / n_kf_callback_ << " ms"
+            << "\n\t\tmax time:           " << 1e-3*max_duration_kf_.count() << " ms" << std::endl;
 
 }
 

src/solver/solver_manager.cpp

@@ -564,15 +564,15 @@ bool SolverManager::check(std::string prefix) const
 void SolverManager::printProfiling(std::ostream& _stream) const
 {
     _stream <<"\nSolverManager:"
-            << "\n\ttotal time:           " << 1e-9*(acc_duration_manager_ + acc_duration_solver_).count() << " s"
-            << "\n\tmanager time:         " << 1e-9*acc_duration_manager_.count() << " s"
-            << "\n\tsolver time:          " << 1e-9*acc_duration_solver_.count() << " s"
+            << "\n\ttotal time:           " << 1e-6*(acc_duration_manager_ + acc_duration_solver_).count() << " s"
+            << "\n\tmanager time:         " << 1e-6*acc_duration_manager_.count() << " s"
+            << "\n\tsolver time:          " << 1e-6*acc_duration_solver_.count() << " s"
             << "\n\texecutions:           " << n_solve_
-            << "\n\taverage time:         " << 1e-6*(acc_duration_manager_ + acc_duration_solver_).count() / n_solve_ << " ms"
-            << "\n\taverage manager time: " << 1e-6*acc_duration_manager_.count() / n_solve_ << " ms"
-            << "\n\taverage solver time:  " << 1e-6*acc_duration_solver_.count() / n_solve_ << " ms"
-            << "\n\tmax manager time:     " << 1e-6*max_duration_manager_.count() << " ms"
-            << "\n\tmax solver time:      " << 1e-6*max_duration_solver_.count() << " ms" << std::endl;
+            << "\n\taverage time:         " << 1e-3*(acc_duration_manager_ + acc_duration_solver_).count() / n_solve_ << " ms"
+            << "\n\taverage manager time: " << 1e-3*acc_duration_manager_.count() / n_solve_ << " ms"
+            << "\n\taverage solver time:  " << 1e-3*acc_duration_solver_.count() / n_solve_ << " ms"
+            << "\n\tmax manager time:     " << 1e-3*max_duration_manager_.count() << " ms"
+            << "\n\tmax solver time:      " << 1e-3*max_duration_solver_.count() << " ms" << std::endl;
 
 }